KR950025228A - Velocity Pattern Determination Method According to Moving Distance and Its Apparatus - Google Patents

Abstract

The present invention relates to a method and apparatus for determining a speed pattern different in movement distance. The apparatus of the present invention includes a control unit for controlling the entire parking facility, a rotary encoder for generating pulses according to the rotation of the motor, a counter for counting pulses of the encoder, and a command for descending, decelerating, and deactivating commands from the control unit. The inverter is configured to drive and stop the motor accordingly.

Therefore, the present invention provides the effect of reaching the target position in the shortest time by controlling the speed according to the position.

Description

Velocity Pattern Determination Method According to Moving Distance and Its Apparatus

Since this is an open matter, no full text was included.

1 is a graph showing a speed pattern in a conventional short distance movement,

Figure 2 is a block diagram showing the applied elevator parking equipment of the present invention,

3 is a block diagram showing a speed pattern determination apparatus according to a moving distance according to the present invention;

4 is a graph showing a basic speed pattern of the present invention;

5 is a graph showing a speed pattern during a short distance movement of the present invention;

6 is a flowchart for explaining a speed pattern determination method according to a moving distance in the apparatus of FIG.

Claims (9)

An apparatus for determining a moving speed between a moving target position and a current position of a moving body, comprising: a motor for moving the moving body; Rotary encoder for generating a pulse in accordance with the rotational speed of the motor; A counter for storing a unique pulse data value for each position and counting a pulse applied from the rotary encoder to detect a current position data of the moving object; A control unit which presets a moving target position and outputs a speed command corresponding to the moving direction and the determined speed pattern by comparing the current position data applied from the counter with the moving target position; And an inverter for driving the motor according to a moving direction and a speed command applied from the controller. The method of claim 1, wherein when the distance to be moved is smaller than the movement distance of the long speed pattern, the controller determines a speed pattern having the remaining distance except the fixed creep section distance as an acceleration section and a deceleration section. Speed pattern determination device according to the moving distance. The method of claim 1, wherein the controller is further configured to determine a speed pattern such that the remaining distance excluding the fixed creep section distance is equal to the acceleration section, the constant velocity section, and the deceleration section if the distance to be moved is greater than the movement distance of the reference speed pattern. Speed pattern determination device according to the moving distance characterized in that. The method of claim 2 or 3, wherein the moving distance of the reference speed pattern accelerates and decelerates to the maximum speed, and stops during the fixed creep section. The distance accelerates and decelerates to the maximum speed and stops during the fixed creep section. Speed pattern determination device according to the moving distance, characterized in that the distance. CLAIMS 1. A method for determining a moving speed between a moving target position and a current position of a moving body, the method comprising: detecting a current position of the moving body; Calculating a moving distance and a moving direction by comparing the detected current position with a moving target position; Determining a deceleration point from the calculated moving distance; And decelerating when the moving body reaches a deceleration point when the moving body moves along the moving direction. The speed according to the movement distance according to claim 5, wherein the movement distance calculation step subtracts the current position from the target position when the movement direction is up, and subtracts the target position from the current position when the movement direction is down. Pattern determination method. 7. The method of claim 6, wherein the deceleration point determining step determines the river speed point by dividing the remaining distance except the fixed creep section distance into a predetermined acceleration section and the deceleration section if the moving distance is smaller than the moving distance of the reference speed pattern. Speed pattern determination method according to the moving distance, characterized in that. 7. The method of claim 6, wherein the deceleration point determination step includes determining a deceleration point by dividing the remaining distance except a fixed creep section distance into an equal acceleration section, a constant velocity section, and a deceleration section if the distance to be moved is greater than the movement distance of the reference speed pattern. Speed pattern determination method according to the moving distance, characterized in that for determining. The method of claim 7 or 8, wherein the moving distance of the reference speed pattern is expressed by the following equation. Here, T _A , T _D , and T _C are acceleration and deceleration times and creep times, and Vmax is a desired maximum speed, and the movement distance St during the sum of the acceleration and deceleration times and the creep time is the movement distance of the reference speed pattern. Indicates. ※ Note: The disclosure is based on the initial application.